[WIP] Docs transfer

.gitmodules

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 	path = content/software/onboard/BlueOS-1.0
 	url = https://github.com/bluerobotics/ardusub-zola.git
 	branch = BlueOS-1.0
+[submodule "ArduSub-4.0"]
+	path = content/software/flight-controller/ArduSub-4.0
+	url = https://github.com/bluerobotics/ardusub-zola
+	branch = ArduSub-4.0
+[submodule "QGroundControl-4.0"]
+	path = content/software/topside/QGroundControl-4.0
+	url = https://github.com/bluerobotics/ardusub-zola
+	branch = QGroundControl-4.0

content/developers/_index.md

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+title = "Developers"
+description = "Developer documentation."
+date = 2022-09-13T23:30:00+00:00
+sort_by = "weight"
+weight = 1
+template = "docs/section.html"
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content/developers/contributing.md

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+title = "Contributing"
+description = "Contribution Guidelines."
+date = 2022-09-13T22:27:00+10:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 0
+draft = false
+[extra]
+lead = 'Our software and documentation are open for contributions - join us in developing the future!'
+toc = true
+top = false
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+
+## Contribution Pathways
+
+- [Blue Robotics](https://github.com/bluerobotics/software-guidelines)
+- [ArduPilot](https://ardupilot.org/dev/docs/contributing.html)
+   - [Top Contributors](https://github.com/ardupilot/ardupilot#top-contributors)
+   - [How to Get Involved](https://github.com/ardupilot/ardupilot#how-to-get-involved)
+- [QGroundControl](https://dev.qgroundcontrol.com/master/en/contribute/)
+- [MAVLink](https://mavlink.io/en/contributing/contributing.html)
+
+## This Documentation
+
+Add a new section / version via a repository/branch as a submodule
+```
+git submodule add -b <branch-name> --name <section-name> <repository url> <path/to/desired/location>
+```
+
+### In General
+1. Fork the repo
+1. make a new branch for development
+1. submit a pull request to the original repo
+1. make changes as relevant
+1. clean up commits with an interactive rebase and force push
+1. sync your repo branch with the upstream branch once the PR is merged

content/software/flight-controller/_index.md

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+title = "Flight Controller"
+description = "Versioned documentation for the different flight controller firmwares."
+date = 2022-04-21T16:53:00+00:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 0
+draft = false
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content/software/programmatic-control/_index.md

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+title = "Programmatic Control"
+description = "Documentation for controlling ArduSub with a program."
+date = 2022-06-09T19:45:00+10:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 10
+draft = false
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content/software/programmatic-control/lua-scripts/index.md

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+title = "Lua Scripts"
+description = "Documentation for lua scripting with ArduSub."
+date = 2022-11-21T18:40:00+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 0
+draft = false
+[extra]
+lead = 'Lua scripts can be used to dynamically alter autopilot behaviour and parameters from within the flight controller.'
+toc = true
+top = false
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+++

content/software/programmatic-control/pymavlink/index.md

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+title = "Pymavlink"
+description = "Examples of using Pymavlink for programmatic control."
+date = 2022-06-13T14:50:00+10:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 0
+draft = false
+[extra]
+lead = 'Pymavlink is a Python implementation of the MAVLink protocol. It can be used to read sensor data and send commands to an ArduSub vehicle.'
+toc = true
+top = false
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+
+# Safety
+- pilot input (`FS_PILOT_INPUT`)
+- leak
+- heartbeat
+- rc timeout (`RC_OVERRIDE_TIMEOUT`)
+
+# Installation
+...
+
+# Examples
+
+Pymavlink has 3 types of messages:
+* `command_long_send`: To create a raw package
+* `<message_name>_send`: To send simple mavlink messages
+* `mavutil`: Functions to abstract some MAVLink messages
+
+## Connecting
+
+### Serial Connection
+### Onboard Computer
+### Topside Computer
+
+## High Level
+### Periodic Events
+### Command Protocol
+
+## Controlling the Vehicle
+### Send RC
+- ArduPilot based around radio-style control
+- Inputs are set as PWM channel values
+- Ignore a channel via int16_max (65535), but warn that previous value persists
+### Send Manual Control (Joystick)
+- Abstraction over control aspect
+- Can pretend to be a pilot
+- Link to joystick functions
+- Underlying functionalities generally have explicit messages (link to(/implement?) command protocol)
+- All axes must be specified (link to issue of ArduSub not supporting the "ignore" value)
+### Arm/disarm
+- Vehicle cannot move without arming
+### Change flight mode
+- Link to flight mode docs
+### Set Target Depth/Attitude
+- In depth hold/stabilise modes, ArduSub will use control algorithms
+- Mention caveats (maximum depth delta, target ignored/reset if vehicle control is actively commanding)
+### Control Camera Gimbal
+- Via mount commands
+- Via servo PWM
+- Via RC input (goes to full extent, value specifies speed)
+### Set Servo PWM
+- Only works for servos that aren't assigned as motors (possibly no function specified?? - confirm)
+### Advanced Servo/Gripper Example
+
+## Accessing Parameters
+### Read all parameters
+### Read and write parameters
+
+## Receiving Data
+### Request message interval
+- Required for many messages
+- TODO: investigate how to receive for `NAMED_VALUE_FLOAT` (request stream?)
+- QGC requests a bunch by default, so if it's open then you'll already be receiving several messages (and may not be able to specify rates)
+### Receive data and filter by message type
+### Advanced Receiving (Message Hooks)
+
+## Sending Data
+### Send Message to Ground Control Station
+### Send GPS position
+### Send rangefinder / computer vision distance measurement to autopilot

content/software/simulation/_index.md

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+title = "Simulation"
+description = "Documentation for simulating an ArduSub vehicle."
+date = 2022-11-21T18:40:00+11:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 50
+draft = false
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+
+- SITL simulates the autopilot, and some very basic physics
+   - SITL should run on BlueOS, although it currently doesn't have the right parameters
+- Gazebo and BlueSim are more advanced physics and operations simulators and the first person interface, but don't simulate the autopilot
+- QGroundControl allows user input to the running simulation, and provides a map/missions interface
+- MAVLink inputs can be from a program (see programatic-control)

content/software/topside/_index.md

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+title = "Topside Computer"
+description = "Versioned documentation for the different topside computer softwares."
+date = 2022-06-09T18:45:00+10:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 2
+draft = false
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content/software/video-processing/_index.md

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+title = "Video Processing"
+description = "Documentation for video processing approaches."
+date = 2022-06-09T18:50:00+10:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 20
+draft = false
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